CN112947528A - Tilt-rotor aircraft flight control method and system oriented to high-low undulating terrain environment - Google Patents
Tilt-rotor aircraft flight control method and system oriented to high-low undulating terrain environment Download PDFInfo
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- CN112947528A CN112947528A CN202110314529.0A CN202110314529A CN112947528A CN 112947528 A CN112947528 A CN 112947528A CN 202110314529 A CN202110314529 A CN 202110314529A CN 112947528 A CN112947528 A CN 112947528A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
- G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
Abstract
The invention provides a method and a system for controlling the flight of a tilt rotor aircraft facing to a high and low relief terrain environment, wherein firstly, the pitching moment generated by a rotor to an aircraft body and the pitching moment generated by a horizontal tail to the aircraft body under each state are calculated; secondly, the pitching moment generated by the rotor wing to the body in each state and the pitching moment generated by the horizontal tail to the body are summed to obtain the pitching moment of the body in different states; then, inputting the pitching moment of the engine body in different states into a dynamic model of the tilt rotor machine to obtain the increasing rate of the pitching angle of the engine body in different states; and finally, selecting the state with the highest pitch angle increasing rate as the optimal operation state at the current flight speed, and switching to the operation mode corresponding to the optimal operation state to realize the optimal flight of the tilt rotor aircraft in the high and low relief terrain environment. The invention takes the speed of the increase rate of the pitch angle of the airframe along with the change of the manipulated variable as the basis of the pitching maneuvering characteristic, so that the manipulation efficiency of the tilt rotor aircraft on the high and low relief terrain is improved by at least 40 percent.
Description
Technical Field
The invention relates to the technical field of flight control of tilt-rotor aircrafts, in particular to a method and a system for flight control of a tilt-rotor aircraft facing to a high-low relief environment.
Background
The tilt rotor aircraft combines the advantages of a fixed-wing aircraft and a helicopter, can hover, take off and land, fly sideways and fly backwards like the helicopter, has the high-speed cruising capability of the fixed-wing aircraft, and is a model of key research at home and abroad. Because it compromises helicopter flight mode and fixed wing aircraft flight mode, consequently, the rotor aircraft that verts can carry out the flight task under multiple topography, scene.
The conversion and the manipulation between the different flight modes of the tiltrotor aircraft can cause the flight performance of the tiltrotor aircraft to change greatly, and the efficiency and the success or failure of the flight task of the aircraft are also influenced. Therefore, it is a big difficulty to switch the tilt-rotor aircraft mode reasonably, so that the tilt-rotor aircraft can adopt a specific flight mode and a flight state under the environment of the rugged topography.
At present, a patent of an optimal controller design method for transition state switching of a tilt rotor aircraft exists in China, and the application number is 201810040012.5. The patent uses a special orthogonal matrix group and R in Riemann geometric manifold3Modeling is carried out on a configuration space group formed by the semi-direct products, and a design method aiming at the optimal controller of fuel consumption, switching time and the like is designed.
Disclosure of Invention
The invention aims to provide a tilt rotor aircraft flight control method and system facing to a high and low relief terrain environment, which comprehensively consider the pitching maneuvering characteristics of the tilt rotor aircraft in the actual flight process so as to realize optimal flight.
To achieve the above object, the present invention provides a flight control method of a tiltrotor aircraft facing a rugged terrain environment, the method comprising:
step S1: acquiring the current rotor wing rotating speed and the current flying speed;
step S2: inputting the current rotor wing rotating speed into a rotor wing pneumatic model, and calculating the pitching moment generated by the rotor wing to the body in each state;
step S3: inputting the current flight speed into a horizontal tail pneumatic model, and calculating pitching moment generated by a horizontal tail to the airframe in each state;
step S4: the pitching moment generated by the rotor wing to the body in each state and the pitching moment generated by the horizontal tail to the body are summed to obtain the pitching moment of the body in different states;
step S5: inputting the pitching moment of the airframe in different states into a rotorcraft dynamics model to obtain the pitching angle increasing rate of the airframe in different states;
step S6: and selecting the state with the fastest pitch angle increasing rate as the optimal operation state at the current flight speed, and switching to the operation mode corresponding to the optimal operation state to realize the optimal flight of the tilt rotor aircraft in the high and low relief terrain environment.
Optionally, before step S1, the method further includes:
and (3) taking actually measured different nacelle tilting angles and different longitudinal periodic variable pitch manipulated variables as inputs, and taking actually measured pitching moments generated by rotors corresponding to the nacelle tilting angles and the different longitudinal periodic variable pitches to the body as outputs to construct a rotor pneumatic model.
Optionally, before step S1, the method further includes:
and (3) taking actually measured different nacelle tilting angles and different elevator deflection angles as input, and taking actually measured pitching moments generated by the horizontal tails corresponding to the nacelle tilting angles and the different elevator deflection angles to the engine body as output to construct a horizontal tail pneumatic model.
Optionally, inputting the current rotor rotation speed into the rotor aerodynamic model, and calculating the pitching moment of the rotor generated to the airframe in each state by using a specific formula:
where ρ is air density, R is rotor radius, ω is current rotor speed, CMrIs the moment coefficient of the rotor, MrThe pitching moment generated by the rotor wing to the body.
Optionally, the current flying speed is input into a horizontal tail pneumatic model, and a pitching moment generated by a horizontal tail to the airframe in each state is calculated by a specific formula:
where ρ is the air density and v ishFor the current flying speed, ShIs the area of the horizontal tail, ClhIs the coefficient of horizontal tail lift, LhThe distance between the pneumatic center of the horizontal tail and the pneumatic center of the machine body, MhThe pitching moment generated by the horizontal tail to the body.
The invention also provides a tilt rotor aircraft flight control system facing a high and low relief terrain environment, which comprises:
the acquisition module is used for acquiring the current rotor wing rotating speed and the current flying speed;
the first pitching moment determining module is used for inputting the current rotor wing rotating speed into the rotor wing pneumatic model and calculating the pitching moment generated by the rotor wing to the body in each state;
the second pitching moment determining module is used for inputting the current flight speed into the horizontal tail pneumatic model and calculating pitching moments generated by the horizontal tail to the body in each state;
the engine body pitching moment determining module is used for summing the pitching moment generated by the rotor to the engine body in each state and the pitching moment generated by the horizontal tail to the engine body to obtain the engine body pitching moments in different states;
the engine body pitch angle increasing rate determining module is used for inputting the engine body pitch moments in different states into the tilt rotor wing dynamic model to obtain the engine body pitch angle increasing rates in different states;
and the control mode selection control module is used for selecting the state with the fastest pitch angle increasing rate as the optimal control state at the current flight speed, and switching to the control mode corresponding to the optimal control state to realize the optimal flight of the tilt rotor aircraft in the high and low relief terrain environment.
Optionally, the system further comprises:
and the rotor wing pneumatic model building module is used for building a rotor wing pneumatic model by taking actually measured different nacelle tilting angles and different longitudinal period variable pitch manipulated variables as input and taking actually measured pitching moments generated by rotor wings corresponding to the nacelle tilting angles and the different longitudinal period variable pitches as output.
Optionally, the system further comprises:
and the horizontal tail pneumatic model building module is used for building a horizontal tail pneumatic model by taking actually measured different nacelle tilting angles and different elevator deflection angles as input and taking actually measured pitching moments generated by the horizontal tail corresponding to the nacelle tilting angles and the elevator deflection angles as output.
Optionally, inputting the current rotor rotation speed into the rotor aerodynamic model, and calculating the pitching moment of the rotor generated to the airframe in each state by using a specific formula:
where ρ is air density, R is rotor radius, ω is current rotor speed, CMrIs the moment coefficient of the rotor, MrThe pitching moment generated by the rotor wing to the body.
Optionally, the current flying speed is input into a horizontal tail pneumatic model, and a pitching moment generated by a horizontal tail to the airframe in each state is calculated by a specific formula:
where ρ is the air density and v ishFor the current flying speed, ShIs the area of the horizontal tail, ClhIs the coefficient of horizontal tail lift, LhThe distance between the pneumatic center of the horizontal tail and the pneumatic center of the machine body, MhThe pitching moment generated by the horizontal tail to the body.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the invention comprehensively considers the pitching moment of the airframe under the common influence of the nacelle inclination angle, the longitudinal displacement and the elevator, inputs the pitching moment of the airframe in different states into the tilt rotor aircraft dynamic model, obtains the increasing rate of the pitching angle of the airframe in different states, and takes the speed of the increasing rate of the pitching angle of the airframe changing along with the operation amount as the basis of the pitching maneuvering characteristics, so that the operation efficiency of the tilt rotor aircraft in high and low relief terrain is improved by at least 40 percent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a flow chart of a flight control method of a tiltrotor aircraft oriented to a high-low relief environment according to an embodiment of the invention;
FIG. 2 is a block diagram of a tiltrotor aircraft flight control system for high and low relief terrain environments in accordance with an embodiment of the present invention;
fig. 3 is a schematic view of the operating principle of a tiltrotor aircraft according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating the effect of Mach number 0.128 manipulation methods on the pitch angle increase rate in accordance with an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating the effect of Mach number 0.2 manipulation methods on the pitch angle increase rate in accordance with an embodiment of the present invention;
FIG. 6 is a histogram of the operating efficacy of the operating methods of Mach 0.128 according to the embodiment of the present invention;
FIG. 7 is a histogram of the operating efficacy of the Mach 0.2 operating methods of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a tilt rotor aircraft flight control method and system facing to a high and low relief terrain environment, which comprehensively consider the pitching maneuvering characteristics of the tilt rotor aircraft in the actual flight process so as to realize optimal flight.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Mountain region search and rescue is the common use purpose of rotor aircraft that verts, because the operational environment of this type of height fluctuation of mountain region makes general aircraft be difficult to high-efficient work, the rotor aircraft that verts alright through flight mode switching, maneuver rapidly between the mountain region of height difference reaches the purpose of high-efficient operation.
The maneuverability of the operation between the mountains is realized by the pitching moment of the aircraft, and if the pitching moment of the aircraft body is large in a certain state, the pitching angular acceleration is correspondingly large, so that the pitching maneuverability between the mountains is facilitated.
As shown in fig. 1, the present invention discloses a flight control method of a tiltrotor aircraft facing a rugged terrain environment, the method comprising:
step S1: and acquiring the current rotor rotation speed and the current flying speed.
Step S2: and inputting the current rotor rotation speed into a rotor pneumatic model, and calculating the pitching moment of the rotor to the body in each state.
Step S3: and inputting the current flight speed into a horizontal tail pneumatic model, and calculating pitching moment generated by the horizontal tail to the airframe in each state.
Step S4: and summing the pitching moment generated by the rotor to the body and the pitching moment generated by the horizontal tail to the body in each state to obtain the pitching moment of the body in different states.
Step S5: and inputting the pitching moment of the engine body in different states into the rotorcraft dynamics model to obtain the pitching angle increasing rate of the engine body in different states.
Step S6: and selecting the state with the fastest pitch angle increasing rate as the optimal operation state at the current flight speed, and switching to the operation mode corresponding to the optimal operation state to realize the optimal flight of the tilt rotor aircraft in the high and low relief terrain environment.
The method further comprises the following steps before the step S1:
step S7: and (3) taking actually measured different nacelle tilting angles and different longitudinal periodic variable pitch manipulated variables as inputs, and taking actually measured pitching moments generated by rotors corresponding to the nacelle tilting angles and the different longitudinal periodic variable pitches to the body as outputs to construct a rotor pneumatic model.
Step S8: and (3) taking actually measured different nacelle tilting angles and different elevator deflection angles as input, and taking actually measured pitching moments generated by the horizontal tails corresponding to the nacelle tilting angles and the different elevator deflection angles to the engine body as output to construct a horizontal tail pneumatic model.
The individual steps are discussed in detail below:
step S2: will the pneumatic model of rotor is input to current rotor rotational speed, calculates the every single move moment of rotor to organism production under each state, and specific formula is:
where ρ is the air density, RIs the rotor radius, ω is the current rotor speed, CMrIs the moment coefficient of the rotor, MrThe pitching moment generated by the rotor wing to the body.
Step S3: inputting the current flight speed into a horizontal tail pneumatic model, and calculating pitching moment generated by a horizontal tail to the airframe in each state, wherein the specific formula is as follows:
where ρ is the air density and v ishFor the current flying speed, ShIs the area of the horizontal tail, ClhIs the coefficient of horizontal tail lift, LhThe distance between the pneumatic center of the horizontal tail and the pneumatic center of the machine body, MhThe pitching moment generated by the horizontal tail to the body.
Step S4: the pitching moment generated by the rotor wing to the body in each state and the pitching moment generated by the horizontal tail to the body are summed to obtain the pitching moment of the body in different states; in this embodiment, the different states include any combination of the following data: the tilting angle of the nacelle is selected to be 90 °, 75 °, 60 ° or 30 °, the longitudinal cyclic pitch is selected to be 2 °, 4 °, 6 °, 8 ° or 10 °, and the elevator is selected to be 2 °, 4 °, 6 °, 8 ° or 10 °.
Step S5: inputting the pitching moment of the airframe in different states into a rotorcraft dynamics model to obtain the pitching angle increasing rate of the airframe in different states; the tiltrotor aircraft dynamic model is a kinetic equation of the tiltrotor aircraft, and the tiltrotor aircraft dynamic model is an existing model.
Step S6: the speed of the pitch angle increasing rate of the aircraft body changing along with the operation amount is used as the basis of the pitching maneuver characteristics, the state with the highest pitch angle increasing rate is selected as the optimal operation state at the current flight speed, and the operation mode corresponding to the optimal operation state is switched to realize the optimal flight of the tilt rotor aircraft in the high and low topographic environment.
The optimal operation state is a helicopter state, a transition state or a fixed wing aircraft state; the state that the tilting angle of the nacelle is 90 degrees is a helicopter state, the state that the tilting angle of the nacelle is between 0 and 90 degrees is a transition state, and the state that the tilting angle of the nacelle is 0 degrees is a fixed wing aircraft state. The mode of operation is either using elevator steering or using longitudinal cyclic pitch steering.
As shown in fig. 2, the present invention provides a tiltrotor aircraft flight control system for high and low relief environments, the system comprising:
and an obtaining module 201, configured to obtain a current rotor rotation speed and a current flight speed.
And a first pitching moment determining module 202, configured to input the current rotor rotation speed into the rotor aerodynamic model, and calculate a pitching moment generated by the rotor to the airframe in each state.
And the second pitching moment determining module 203 is configured to input the current flight speed into the horizontal tail pneumatic model, and calculate pitching moments generated by the horizontal tail to the airframe in each state.
And the body pitching moment determining module 204 is configured to sum the pitching moment generated by the rotor to the body in each state and the pitching moment generated by the horizontal tail to the body, so as to obtain the body pitching moments in different states.
And the engine pitch angle increase rate determination module 205 is configured to input the engine pitch moments in different states into the tiltrotor dynamics model, so as to obtain the engine pitch angle increase rates in different states.
And the control mode selection control module 206 is configured to select a state with the fastest pitch angle increase rate as an optimal control state at the current flight speed, and switch to a control mode corresponding to the optimal control state, so as to realize optimal flight of the tiltrotor aircraft in an environment with high and low relief topography.
As an optional implementation, the system of the present invention further includes:
and the rotor wing pneumatic model building module is used for building a rotor wing pneumatic model by taking actually measured different nacelle tilting angles and different longitudinal period variable pitch manipulated variables as input and taking actually measured pitching moments generated by rotor wings corresponding to the nacelle tilting angles and the different longitudinal period variable pitches as output.
As an optional implementation, the system of the present invention further includes:
and the horizontal tail pneumatic model building module is used for building a horizontal tail pneumatic model by taking actually measured different nacelle tilting angles and different elevator deflection angles as input and taking actually measured pitching moments generated by the horizontal tail corresponding to the nacelle tilting angles and the elevator deflection angles as output.
As an optional embodiment, the present invention inputs the current rotor rotation speed into a rotor aerodynamic model, and calculates a pitching moment generated by the rotor to the airframe in each state, where the specific formula is as follows:
where ρ is air density, R is rotor radius, ω is current rotor speed, CMrIs the moment coefficient of the rotor, MrThe pitching moment generated by the rotor wing to the body.
As an optional embodiment, the present invention inputs the current flight speed into a horizontal tail pneumatic model, and calculates a pitching moment generated by the horizontal tail to the airframe in each state, and the specific formula is as follows:
where ρ is the air density and v ishFor the current flying speed, ShIs the area of the horizontal tail, ClhIs the coefficient of horizontal tail lift, LhThe distance between the pneumatic center of the horizontal tail and the pneumatic center of the machine body, MhThe pitching moment generated by the horizontal tail to the body.
The invention takes a certain tilting rotorcraft as an example, an operation channel of the tilting rotorcraft comprises a total pitch, a periodic variable pitch, an aileron, a rudder and an elevator, wherein the longitudinal periodic variable pitch and the elevator have larger influence on the pitching moment of the airframe and are main operation variables for controlling the pitching of the airframe in the forward flying process of the tilting rotorcraft. The operation principle of the tilt rotor aircraft is schematically shown in the attached figure 3.
And calculating the pitching moment under the combined action of the tilting angle of the nacelle and the longitudinal periodic variable pitch by the rotor wing aerodynamic module under the Mach number of 0.128 and the Mach number of 0.2. And under the Mach number of 0.128 and the Mach number of 0.2, the pitching moment under the combined action of the tilting angle of the nacelle and the tilting angle of the elevator is obtained by calculation through the horizontal tail gas power module. The body pitch angle increasing rate under different steering quantities is calculated by the substituted kinetic equation as shown in fig. 4 and fig. 5. The slope of the curves in fig. 4 and 5 is extracted, i.e. how fast the pitch angle increase rate is, i.e. when the maneuverability is highest, as seen by the height of the bar graph, the mode is switched. The slope of each curve in fig. 4 and 5 is therefore extracted as the steering efficacy as shown in fig. 6 and 7, respectively. Fig. 6 shows that the tilting rotorcraft of this type has the best maneuverability for longitudinal cyclic pitch maneuvers with a tilt angle of 90 ° (i.e. helicopter mode) as the most power efficient maneuver input at mach 0.128. Fig. 7 shows that the operation input of the tiltrotor aircraft with the best operation efficiency under the condition of Mach 0.2 is the elevator operation under the tilting angle of 60 degrees, so that the tiltrotor aircraft has the best maneuverability.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. For the system disclosed by the embodiment, the description is relatively simple because the system corresponds to the method disclosed by the embodiment, and the relevant points can be referred to the method part for description.
The principles and embodiments of the present invention have been described herein using specific examples, which are provided only to help understand the method and the core concept of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A method of tiltrotor aircraft flight control for high and low relief terrain environments, the method comprising:
step S1: acquiring the current rotor wing rotating speed and the current flying speed;
step S2: inputting the current rotor wing rotating speed into a rotor wing pneumatic model, and calculating the pitching moment generated by the rotor wing to the body in each state;
step S3: inputting the current flight speed into a horizontal tail pneumatic model, and calculating pitching moment generated by a horizontal tail to the airframe in each state;
step S4: the pitching moment generated by the rotor wing to the body in each state and the pitching moment generated by the horizontal tail to the body are summed to obtain the pitching moment of the body in different states;
step S5: inputting the pitching moment of the airframe in different states into a rotorcraft dynamics model to obtain the pitching angle increasing rate of the airframe in different states;
step S6: and selecting the state with the fastest pitch angle increasing rate as the optimal operation state at the current flight speed, and switching to the operation mode corresponding to the optimal operation state to realize the optimal flight of the tilt rotor aircraft in the high and low relief terrain environment.
2. The tiltrotor aircraft flight control method oriented toward undulating terrain environments of claim 1, further comprising, prior to step S1:
and (3) taking actually measured different nacelle tilting angles and different longitudinal periodic variable pitch manipulated variables as inputs, and taking actually measured pitching moments generated by rotors corresponding to the nacelle tilting angles and the different longitudinal periodic variable pitches to the body as outputs to construct a rotor pneumatic model.
3. The tiltrotor aircraft flight control method oriented toward undulating terrain environments of claim 1, further comprising, prior to step S1:
and (3) taking actually measured different nacelle tilting angles and different elevator deflection angles as input, and taking actually measured pitching moments generated by the horizontal tails corresponding to the nacelle tilting angles and the different elevator deflection angles to the engine body as output to construct a horizontal tail pneumatic model.
4. The method of claim 1, wherein the current rotor speed is input into a rotor aerodynamic model, and the pitching moment generated by the rotor to the airframe in each state is calculated by the following formula:
where ρ is air density, R is rotor radius, ω is current rotor speed, CMrIs the moment coefficient of the rotor, MrThe pitching moment generated by the rotor wing to the body.
5. The flight control method of a tiltrotor aircraft facing an undulating terrain environment according to claim 1, wherein the current flight speed is input into a horizontal tail pneumatic model, and a pitching moment generated by a horizontal tail to the aircraft body in each state is calculated by the following formula:
where ρ is the air density and v ishFor the current flying speed, ShIs the area of the horizontal tail, ClhIs the coefficient of horizontal tail lift, LhThe distance between the pneumatic center of the horizontal tail and the pneumatic center of the machine body, MhThe pitching moment generated by the horizontal tail to the body.
6. A tiltrotor aircraft flight control system oriented in an undulating terrain environment, the system comprising:
the acquisition module is used for acquiring the current rotor wing rotating speed and the current flying speed;
the first pitching moment determining module is used for inputting the current rotor wing rotating speed into the rotor wing pneumatic model and calculating the pitching moment generated by the rotor wing to the body in each state;
the second pitching moment determining module is used for inputting the current flight speed into the horizontal tail pneumatic model and calculating pitching moments generated by the horizontal tail to the body in each state;
the engine body pitching moment determining module is used for summing the pitching moment generated by the rotor to the engine body in each state and the pitching moment generated by the horizontal tail to the engine body to obtain the engine body pitching moments in different states;
the engine body pitch angle increasing rate determining module is used for inputting the engine body pitch moments in different states into the tilt rotor wing dynamic model to obtain the engine body pitch angle increasing rates in different states;
and the control mode selection control module is used for selecting the state with the fastest pitch angle increasing rate as the optimal control state at the current flight speed, and switching to the control mode corresponding to the optimal control state to realize the optimal flight of the tilt rotor aircraft in the high and low relief terrain environment.
7. The tiltrotor aircraft flight control system oriented in an elevated terrain environment of claim 6, further comprising:
and the rotor wing pneumatic model building module is used for building a rotor wing pneumatic model by taking actually measured different nacelle tilting angles and different longitudinal period variable pitch manipulated variables as input and taking actually measured pitching moments generated by rotor wings corresponding to the nacelle tilting angles and the different longitudinal period variable pitches as output.
8. The tiltrotor aircraft flight control system oriented in an elevated terrain environment of claim 6, further comprising:
and the horizontal tail pneumatic model building module is used for building a horizontal tail pneumatic model by taking actually measured different nacelle tilting angles and different elevator deflection angles as input and taking actually measured pitching moments generated by the horizontal tail corresponding to the nacelle tilting angles and the elevator deflection angles as output.
9. The tiltrotor aircraft flight control system according to claim 6, wherein the current rotor speed is input into the rotor aerodynamic model to calculate the pitching moment of the rotor on the airframe at each state, and the formula is as follows:
where ρ is air density, R is rotor radius, ω is current rotor speed, CMrIs the moment coefficient of the rotor, MrThe pitching moment generated by the rotor wing to the body.
10. The tiltrotor aircraft flight control system according to claim 6, wherein the current flight speed is input into the horizontal tail pneumatic model, and the pitching moment generated by the horizontal tail to the aircraft body in each state is calculated by the following formula:
where ρ is the air density and v ishFor the current flying speed, ShIs the area of the horizontal tail, ClhIs the coefficient of horizontal tail lift, LhThe distance between the pneumatic center of the horizontal tail and the pneumatic center of the machine body, MhThe pitching moment generated by the horizontal tail to the body.
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| CN106882371A (en) * | 2017-03-07 | 2017-06-23 | 北京天宇新超航空科技有限公司 | A kind of hybrid tilting rotor wing unmanned aerial vehicle |
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